WO2023221486A1 - Method and apparatus for processing messages - Google Patents

Abstract

A method and apparatus for processing messages. The method comprises: determining a priority of a first message; when the priority of the first message meets a first condition, generating a scheduling request, the scheduling request being used to request real-time processing of the first message; and when the priority of the first message meets a second condition, waiting for polling processing of the first message, the first condition and the second condition being associated with the content of the first message. By means of the present method for processing messages, reliability and real-time performance of message processing can be improved, thereby further helping to improve vehicle safety.

Description

Message processing methods and devices

This application claims priority to the Chinese patent application filed with the China Patent Office on May 16, 2022, with application number 202210529722.0 and application title "Method and Device for Message Processing", the entire content of which is incorporated into this application by reference. .

Technical field

The present application relates to the field of vehicle communications, and more specifically, to a message processing method and device.

Background technique

In the vehicle bus system, there are a variety of communication technologies, including controller area network (CAN) communication technology and Ethernet (ETH) communication technology. In the actual communication process, an electronic control unit (ECU) or controller can support both CAN and Ethernet communication, and an ECU or controller supports multiple physical interfaces (or "ports") of the same type. . In the vehicle bus system, when the ECU, etc. serves as the receiving end to receive messages, the messages are generally received through system interrupts. The interrupt priority is set according to the physical interface (the interface corresponding to each CAN/ETH bus). Generally speaking, when the receiving end receives CAN messages and ETH messages at the same time, the priority of the CAN bus interrupt is higher than the priority of the Ethernet bus interrupt. As CAN/ETH is a bus, different delays can be transmitted in the same interface. / For messages required by functional safety, there may also be messages with overlapping priorities in different interfaces, which may cause low-priority messages on the CAN bus to interrupt the reception of Ethernet high-priority messages, resulting in functional safety threats.

Therefore, a message processing method and device that can improve the reliability and real-time performance of messages urgently needs to be developed.

Contents of the invention

This application provides a message processing method and device, which helps to improve the reliability and real-time performance of message processing.

The vehicle (sometimes referred to as a vehicle) in this application is a vehicle in a broad sense, which can be a means of transportation (such as a car, a truck, a motorcycle, an airplane, a train, a ship, etc.), an industrial vehicle (such as a forklift, a trailer, a tractor) etc.), engineering vehicles (such as excavators, bulldozers, cranes, etc.), agricultural equipment (such as lawn mowers, harvesters, etc.), amusement equipment, toy vehicles, etc. The embodiments of this application do not specifically limit the types of vehicles.

The first aspect provides a message processing method, which can be executed by the vehicle; or it can also be executed by the vehicle's on-board terminal such as a vehicle machine, or it can also be executed by an ECU, etc.; or it can also be executed by the vehicle. The vehicle's chip or circuit execution is not limited in this application. For the convenience of description, the following takes the execution of a message transceiver module, such as a MAC transceiver module or a CAN transceiver module, in a certain ECU of the vehicle as an example.

The method may include: determining the priority of the first message; when the priority of the first message meets the first condition, generating a scheduling request, where the scheduling request is used to request real-time processing of the first message; When the priority of the first message meets the second condition, polling processing of the first message is waited for.

In the above technical solution, different processing methods can be used for messages with different priorities based on the priority of the message, so that high-priority messages or messages that affect vehicle safety are processed first, which is conducive to ensuring high priority Real-time processing of messages or messages that affect vehicle safety. Polling processing of business messages with low priority or audio and video streams can improve processing performance and avoid the impact of high-frequency interruptions on the performance of the message processing system. .

For example, the first message may be an Ethernet message, or it may be a CAN message, or it may be other messages, which is not specifically limited in the embodiment of the present application.

For example, the priority of the first message may be determined according to message fields, field combinations or message content. For example, determine the priority of the first message through the priority field PCP; or determine the priority of the first message through the Message ID field. In some possible implementations, the priority of the first message may also be determined according to protocol provisions, or the priority of the message may be determined in other ways, which is not specifically limited in the embodiments of this application.

Illustratively, the real-time processing includes but is not limited to interrupts, soft interrupts, and task scheduling. The polling process may be a periodic polling process, where the cycle of the polling process may be 100 milliseconds, or 500 milliseconds, or other cycles, which are not specifically limited in the embodiments of the present application.

In some possible implementations, the above-mentioned first condition and the above-mentioned second condition are associated with the content carried by the first packet. For example, the first condition is that the content carried by the first packet is control instructions such as vehicle control instructions, and the second condition is that the content carried by the first packet is entertainment content such as audio and video streams. Or, the first condition is that the first message is a management message, and the second condition is that the first message is a service message. In some possible implementations, management packets may include packets for network (or device) management and/or control, and service packets may include, in addition to management packets, other packets that do not have network (or device) management, Messages for control functions. Alternatively, the first condition and the second condition may also be other conditions associated with the content of the first message.

In connection with the first aspect, in some implementations of the first aspect, the first condition includes that the priority of the first message is higher than a preset threshold, and the second condition includes that the priority of the first message is lower than or equal to the preset threshold.

For example, the preset threshold can be a specific value of a field that represents priority, such as PCP=3 or Message ID=2; or, the preset threshold can also quantify the specific value of a field that represents priority. After quantizing the priority of the packets with PCP=3~5 as "medium priority" and quantizing the priority of the packets with PCP=6~7 as "high priority", the above preset threshold can be As "medium priority". It should be understood that the above-mentioned preset threshold is only an illustrative description. During the specific implementation process, other preset thresholds may also be set, which is not specifically limited in the embodiments of the present application.

In connection with the first aspect, in some implementations of the first aspect, when the priority of the first message satisfies the first condition, the method further includes: determining the first priority according to the priority of the first message. The scheduling priority of the message is used to indicate the priority of the real-time processing; the generating of the scheduling request includes: generating the scheduling request according to the scheduling priority of the first message.

As an example, for a message processing system that uses interrupts, the priority of the message can be mapped to the interrupt priority, and further, an interrupt request with priority can be generated according to the interrupt priority. For example, for messages with PCP=3~7, messages with PCP=6~7 correspond to higher interrupt priorities, and messages with PCP=3~5 correspond to lower interrupt priorities. Further, a high-priority interrupt request is generated for a message with a higher interrupt priority, and a low-priority interrupt request is generated for a message with a lower interrupt priority. Messages with high interrupt request priority can interrupt messages with low interrupt request priority.

As another example, for a message processing system that uses soft interrupts, the priority of the message can be mapped to the soft interrupt priority, and further, a soft interrupt request with priority can be generated according to the soft interrupt priority. For example, messages with PCP=3~7 are mapped to two different interrupt priorities. Among them, messages with PCP=6~7 correspond to higher soft interrupt priorities, and messages with PCP=3~5 correspond to at a lower softirq priority level. Messages with higher soft interrupt priority can interrupt messages with lower soft interrupt priority.

As another example, for a message processing system that adopts task scheduling, the priority of the message can be mapped to the task scheduling priority, and further, a task scheduling request with priority can be generated according to the task scheduling priority. For example, messages with PCP=3~7 are mapped to two different task scheduling priorities. Among them, messages with PCP=6~7 correspond to higher task scheduling priorities, and messages with PCP=3~5 Corresponds to lower task scheduling priority. The packet processing system can prioritize packets with higher task scheduling priority, and then process packets with lower task scheduling priority.

In some possible implementations, the message transceiving module can also generate a scheduling request without priority for the first message, and then send the scheduling request and scheduling priority indication information respectively, where the scheduling priority indication information is used to indicate The scheduling priority of the first packet.

In the above technical solution, scheduling requests of different priorities are generated according to the priority of the message, so that high-priority messages can be processed preferentially. Especially in the field of vehicle control, the priority of packets that affect vehicle safety is higher, and the priority of business packets such as data transmission with large amounts of data, obvious business burst characteristics, and audio and video streaming in the entertainment domain is lower. The above technical solutions can ensure the real-time processing of messages that affect vehicle safety and help improve vehicle safety.

Combined with the first aspect, in some implementations of the first aspect, after determining the priority of the first message, the method further includes: based on the priority of the first message and the used space of the message buffer, The first message is cached, and the used space of the message cache area is used to represent the used space of the cached message area.

In connection with the first aspect, in some implementations of the first aspect, the method further includes: when the priority of the first message is higher than a first threshold, and/or the used space of the message buffer is less than a second threshold when, the first message is cached.

For example, the first threshold may be a specific value of a field that represents priority; or, the first threshold may also be a quantized value of a specific value of a field that represents priority. The second threshold may be a specific value of the used space in the message buffer, or may be the proportion of the used space in the message buffer occupying the total space in the message buffer. As an example, the first threshold may be PCP=6, and the second threshold may be 95% of the cache space.

In the above technical solution, when the used space in the message buffer area and the priority of the message meet certain conditions, the message is cached, otherwise the message is discarded, which can reduce the probability of packet loss of high-priority messages due to buffer overflow. , improve the reliability of the message processing system.

Combined with the first aspect, in some implementations of the first aspect, before caching the first message, the method further includes: when the used space of the message buffer is greater than a third threshold, deleting one or more The second message has a priority lower than the priority of the first message.

For example, the second threshold may be a specific value of the used space in the message buffer, or may be the proportion of the used space in the message buffer occupying the total space in the message buffer. For example, the third threshold may be 90% of the cache space, or may be other values, which are not specifically limited in this embodiment of the present application.

In some possible implementations, the second packet may be the packet with the lowest priority.

In the above technical solution, high-priority packets are used to seize cache space for low-priority packets, preventing high-priority packets from being lost due to buffer overflow, and improving the reliability of the packet processing system.

In conjunction with the first aspect, in some implementations of the first aspect, the method further includes: determining a priority of a third message; when the priority of the third message is lower than or equal to the first threshold, and the priority of the third message is When the used space of the message buffer is greater than or equal to the second threshold, the third message is discarded.

For example, multiple sets of first thresholds and second thresholds (hereinafter represented as [first threshold, second threshold]) may be set, such as [PCP=4, 80%], [PCP=1, 60%], etc. That is, when the message priority is PCP=2~4, and the used space of the message buffer is greater than or equal to 80%, the message is discarded; when the message priority is PCP=1, and the message buffer uses space When the used space is greater than or equal to 60%, the packet is discarded.

In the above technical solution, different message buffer discard thresholds are set for messages of different priorities, so that the message buffer has enough space to cache higher priority messages, while ensuring that the message processing system While improving reliability, it also reduces the complexity in the message caching process.

In the second aspect, a message processing method is provided, which can be executed by the vehicle; or it can also be executed by the vehicle's on-board terminal such as a vehicle machine, or it can also be executed by an ECU, etc.; or it can also be executed by the vehicle. The vehicle's chip or circuit execution is not limited in this application. For the convenience of description, the following takes the system scheduling module and TCP/IP protocol stack execution in an ECU of the vehicle as an example.

The method may include: determining a first processing strategy for the first message, the first processing strategy being one of real-time processing and polling processing; processing the first message according to the first processing strategy, wherein , the real-time processing is performed when the priority of the first message meets the first condition, and the polling processing is performed when the priority of the first message meets the second condition.

In the above technical solution, higher priority messages can be processed in real time according to scheduling requests, which can improve the real-time performance of higher priority message processing; when the message processing system is idle, lower priority messages can be processed in real time. Message polling processing can avoid the impact of high-frequency interruptions on the performance of the message processing system, and helps improve the performance of the message processing system.

With reference to the second aspect, in some implementations of the second aspect, the method further includes: receiving a scheduling request, the scheduling request being used to request real-time processing of the first message; and determining the processing of the first message in real time. A processing strategy includes: determining that the first processing strategy for the first message is real-time processing according to the scheduling request.

Combined with the second aspect, in some implementations of the second aspect, the method further includes: before performing the real-time processing on the first message, interrupting the polling processing on the fourth message; After a packet is processed in real time, polling processing is continued on the fourth packet, where the priority of the fourth packet is lower than the priority of the first packet.

Combined with the second aspect, in some implementations of the second aspect, the real-time processing of the first message includes a first moment, and the first moment is the moment when the polling process starts. The method also includes The method includes: controlling the first time to be delayed to a second time, the second time being the time after the real-time processing of the first message is performed, and the second time being the time when polling processing starts.

In some possible implementations, the polling process may be a periodic polling process, where the cycle of the polling process may be 100 milliseconds or 500 milliseconds. In some possible implementations, during the real-time processing of the first message, the polling processing cycle arrives, and the fourth message needs to be polled. In the above situation, the polling process is suspended, and after the real-time processing of the first message is completed, the polling process of the fourth message is started.

In a third aspect, a message processing device is provided. The device may include: a first processing unit and a second processing unit, wherein the first processing unit is used to determine the priority of the first message; the second processing unit The processing unit is configured to generate a scheduling request when the priority of the first message satisfies the first condition, and the scheduling request is used to request real-time processing of the first message; when the priority of the first message satisfies In the second condition, wait for the polling processing of the first message.

In some possible implementations, the first processing unit and the second processing unit may be the same processing unit, that is, determining the priority of the first message and generating the scheduling request may be completed by one processing unit.

Combined with the third aspect, in some implementations of the third aspect, the first condition includes that the priority of the first message is higher than a preset threshold, and the second condition includes that the priority of the first message is lower than or equal to the preset threshold.

Combined with the third aspect, in some implementations of the third aspect, the second processing unit is also configured to: when the priority of the first message meets the first condition, according to the priority of the first message The scheduling priority of the first message is determined, and the scheduling priority is used to indicate the priority of the real-time processing; and the scheduling request is generated according to the scheduling priority of the first message.

In conjunction with the third aspect, in some implementations of the third aspect, the device further includes: a third processing unit, configured to, after determining the priority of the first message, process the first message according to the priority and The used space of the message cache area is used to cache the first message. The used space of the message cache area is used to represent the used space of the cached message area.

In some possible implementations, the third processing unit, the first processing unit and the second processing unit may be different processing units, or they may be the same processing unit, which is not specifically limited in the embodiments of this application.

Combined with the third aspect, in some implementations of the third aspect, the third processing unit is also used to: when the priority of the first message is higher than the first threshold, and/or the message buffer area has used space When it is less than the second threshold, the first message is cached.

Combined with the third aspect, in some implementations of the third aspect, the third processing unit is further configured to: before caching the first message, when the used space of the message buffer is greater than the third threshold, delete One or more second messages, the priority of the second message is lower than the priority of the first message.

Combined with the third aspect, in some implementations of the third aspect, the first processing unit is also used to: determine the priority of the third message; the third processing unit is also used to: determine the priority of the third message. When the priority is lower than or equal to the first threshold and the used space in the message buffer is greater than or equal to the second threshold, the third message is discarded.

In a fourth aspect, a message processing device is provided. The device includes: a first processing unit and a second processing unit, wherein the first processing unit is used to determine a first processing strategy for the first message, and the The first processing strategy includes real-time processing and polling processing; the second processing unit is used to process the first message according to the first processing strategy, wherein the real-time processing is such that the priority of the first message satisfies The processing is performed when the first condition is met, and the polling processing is performed when the priority of the first message meets the second condition.

With reference to the fourth aspect, in some implementations of the fourth aspect, the device further includes: a transceiver unit, configured to receive a scheduling request, the scheduling request being used to request real-time processing of the first message; the first processing The unit is also configured to determine, according to the scheduling request, that the first processing strategy for the first message is real-time processing.

In conjunction with the fourth aspect, in some implementations of the fourth aspect, the second processing unit is further configured to: interrupt the polling processing of the fourth message before performing the real-time processing of the first message; After the real-time processing of the first message, polling processing of the fourth message is continued, wherein the priority of the fourth message is lower than the priority of the first message.

In connection with the fourth aspect, in some implementations of the fourth aspect, the real-time processing of the first message includes a first moment, the first moment being the moment when the polling process starts, the second process The unit is also configured to: control the first time to be delayed to a second time, the second time being the time after the real-time processing of the first message is performed, and the second time being the time when polling processing starts.

In a fifth aspect, a message processing device is provided. The device includes: a memory for storing a program; a processor for executing the program stored in the memory. When the program stored in the memory is executed, the processor is configured to execute the above A method in any possible implementation manner of the first aspect.

In a sixth aspect, a message processing system is provided. The system includes the device in any of the possible implementations of the third aspect and/or the fourth aspect, or the system includes any one of the fifth aspects. device in an implementation manner.

A seventh aspect provides a vehicle, which includes the device in any possible implementation manner of the third aspect and/or the fourth aspect, or the device in any possible implementation manner of the fifth aspect, or The system in any implementation manner of the above sixth aspect.

In an eighth aspect, a computer program product is provided. The computer program product includes: computer program code. When the computer program code is run on a computer, it enables the computer to execute any one of the first aspect or the second aspect. method within the method.

It should be noted that the above computer program code may be stored in whole or in part on the first storage medium, where the first storage medium may be packaged together with the processor, or may be packaged separately from the processor. This is not the case in the embodiments of this application. Specific limitations.

In a ninth aspect, a computer-readable medium is provided. The computer-readable medium stores program code. When the computer program code is run on a computer, it makes it possible for the computer to execute any one of the first aspect or the second aspect. Methods in the implementation.

In a tenth aspect, a chip is provided. The chip includes a processor for calling a computer program or computer instructions stored in a memory, so that the processor executes any of the possible implementation methods of the first aspect or the second aspect. method in.

Combined with the tenth aspect, in a possible implementation manner, the processor is coupled with the memory through an interface.

In conjunction with the tenth aspect, in a possible implementation manner, the chip system further includes a memory, and a computer program or computer instructions are stored in the memory.

Description of the drawings

Figure 1 is a schematic diagram of a communication system interrupting reception of messages.

Figure 2 is a schematic diagram of a network architecture provided by an embodiment of the present application.

Figure 3 is a schematic diagram of an Ethernet protocol stack system architecture provided by an embodiment of the present application.

Figure 4 is a schematic diagram of a CAN bus system architecture provided by an embodiment of the present application.

Figure 5 is a schematic flow chart of a message processing method provided by an embodiment of the present application.

Figure 6 is a schematic diagram of a cache queue and a message cache area provided by an embodiment of the present application.

Figure 7 is a schematic flow chart of a message processing method provided by an embodiment of the present application.

Figure 8 is a schematic diagram of a packet discarding parameter setting provided by an embodiment of the present application.

Figure 9 is a schematic flow chart of a message processing method provided by an embodiment of the present application.

Figure 10 is another schematic flow chart of a message processing method provided by an embodiment of the present application.

Figure 11 is a schematic block diagram of a packet processing device provided by an embodiment of the present application.

Figure 12 is a schematic block diagram of a packet processing device provided by an embodiment of the present application.

Detailed ways

The technical solutions in the embodiments of the present application will be described below with reference to the accompanying drawings.

As vehicles evolve towards intelligence, software-defined vehicles have become a new development model for future vehicle software systems. During the actual operation of the vehicle, the communication between various sensors (such as lidar, millimeter wave radar, ultrasonic radar, etc.) and the control system Information interaction, audio and video stream transmission, etc. require the use of large-bandwidth communication buses. The flexibility and large bandwidth of the Ethernet network have become the choice of vehicle communication bus technology. However, the delay fluctuation and lack of reliability guarantee of the Ethernet network are challenged in the field of vehicle applications. They are key technical issues that need to be solved for the application of Ethernet network in the vehicle field. In the application scenario of automotive Ethernet, the following characteristics affect the deterministic delay and reliability of the Ethernet network:

1. Different types of data such as control commands and audio and video streams have different quality of service (QoS) requirements. When transmitted in the same Ethernet network, they will affect each other, thereby affecting the deterministic delay and reliability of the Ethernet network. sex.

2. Burst nature of Ethernet messages: Since the CAN bus is dominated by periodic messages, the load of the CAN bus has been determined during system design. The business carried by the Ethernet network is flexible, and the time when each data source sends data to the Ethernet bus may be concurrent, that is, some data overlap in time, which is a so-called conflict, causing the bursty characteristics of Ethernet messages to affect the transmission. Latency and reliability.

3. Reliability of the Ethernet protocol: Ethernet does not provide reliable transmission at the MAC layer and network layer; in automotive Ethernet networks, the transmission layer generally uses the user datagram protocol (UDP) protocol, and the UDP protocol is also unreliable. Transmission protocols, the above-mentioned protocols without reliability guarantee may lead to unreliable data transmission in the Ethernet network.

4. The vehicle Ethernet network is an embedded system with limited memory and computing resources, and its processing power is inferior to ordinary network information technology (IT) systems, which will affect the deterministic delay of the Ethernet network.

As the most popular IT technology in the field, Ethernet has also begun to be promoted and applied in the field of industrial control that requires high reliability and latency. Ethernet already has many mature solutions and standards in terms of delay guarantee and reliability, such as the time-sensitive networking (TSN) protocol for deterministic delay network solutions. However, research or standardization solutions in the industry focus on how to reduce the packet forwarding delay and delay certainty of network switching/routing nodes, but there is a lack of research on how to improve the deterministic delay and reliability guarantee measures on the receiving/sending host side. .

Under the current technical background, after the MAC layer on the host side receives a message, different types of messages are processed uniformly without priority protection measures. If the scheduling mechanism uniformly adopts the interrupt or polling mechanism, there will be no priority difference in packet processing; there will be no difference in packet loss when the MAC layer buffer overflows. As a result of the above processing process, low-priority messages (such as log files) may have an impact on messages with high reliability requirements (such as vehicle control instructions). For example, messages with high reliability requirements cannot be processed in time; instant bursts of big data A large amount of messages may cause vehicle control command messages with high reliability requirements to overflow, affecting functional safety. Therefore, how to avoid the impact of large amounts of data and low-priority messages on high-priority messages is a problem that needs to be solved.

As mentioned above, under the current technical background, the transport layer/network layer in the ETH network uses the same scheduling mechanism to receive and/or process messages of different priorities, so that in a message burst scenario, large-bandwidth low-priority messages The packets may affect the reception and/or processing of high-priority packets, resulting in high-priority packets not being processed in time or packet loss. In addition, the system is connected to the CAN bus and the Ethernet network at the same time. The common method in the industry is to set interrupts according to the physical interface. The priority of the CAN bus interrupt is usually higher than the priority of the Ethernet bus interrupt. There may be low-priority message interrupts of the CAN bus. The reception of Ethernet high-priority packets is shown in Figure 1. In view of this, embodiments of the present application provide a message processing method and device, which can determine the priority of the message according to the message content, and then perform scheduling based on the message priority, so that the message can be processed according to the protocol at the transport layer/network layer. When processing packets, high-priority packets can be processed first; in the MAC layer receive buffer overflow scenario, high-priority packets can preempt the low-priority queue cache, thereby ensuring the reliability and low latency of high-priority packets. . In addition, when the system receives the CAN message and the ETH message at the same time, it determines the priority of the CAN message and the ETH message and uses different communication technologies according to the priority of the CAN message and the ETH message. Or between different ports of unified communication technology, system scheduling requests of different priorities can be generated according to the message priority to solve the problem of low-priority messages on the CAN bus interrupting the reception of high-priority messages caused by physical port interruptions.

In order to facilitate understanding of the embodiments of this application, first a brief explanation of the terms involved in this application is given:

1. Interrupt: A mechanism used by the computer's operating system to respond to hardware device requests. When the operating system receives an interrupt request from the hardware, it will interrupt the executing process, and then call the interrupt handler in the kernel to respond to the request.

2. Soft interrupt: In order to solve the problem of too long execution of the interrupt handler and loss of interrupts, the interrupt is divided into two parts: the upper part is used to quickly handle the interrupt. Generally, the interrupt request is temporarily closed and is mainly responsible for processing closely related to the hardware. Or time-sensitive events; the second half is used to delay processing of the unfinished work of the first half, and generally runs in the form of a "kernel thread". That is, soft interrupts use the concept of hardware interrupts to simulate them in software to achieve macroscopic asynchronous execution effects.

3. Task scheduling: When multiple tasks share computer system resources at the same time, in order to ensure that multiple tasks can be executed smoothly, the operating system schedules multiple tasks according to certain principles so that they can be executed in a certain order.

4. Scheduling: During the actual processing of messages (or data), there is a sequence or dependency relationship between messages. In order to ensure the normal progress of message processing, these messages are required to be executed in an orderly and efficient manner according to the sequence relationship or dependency relationship. Scheduling mechanisms include but are not limited to the above-mentioned interrupts, soft interrupts, and task scheduling.

Figure 2 is an architecture diagram of an Ethernet system provided by this application, including a receiving/transmitting host 100 and an Ethernet switching/routing device 200. Among them, the host 100 includes a media access control (media access control, MAC) layer transceiver module 110, a transmission control protocol/Internet protocol (transmission control protocol/Internet protocol, TCP/IP) protocol stack module 120, a CAN transceiver module 130 and a CAN and Upper layer protocol stack module 140. Specifically, the MAC layer transceiver module 110 and the TCP/IP protocol stack module 120 can implement priority identification based on message content and priority-based scheduling, thereby ensuring the reliability and low latency of high-priority messages. In addition, for the CAN transceiver module 130 and the CAN and upper layer protocol stack module 140, the scheduling priority can also be determined based on the content to achieve unified identification and scheduling of message priorities between different bus technologies.

In some possible implementations, the receiving/transmitting host 100 can be set in an Internet of Vehicles intelligent terminal with external communication functions, such as a vehicle-mounted terminal (telematics box, T-Box), or can also be set in a vehicle control module. , such as vehicle dynamics control (VDC), vehicle control unit (VCU), vehicle domain controller (domain control unit, DCU), etc., or it can also be set in other control units, such as ECU etc., the embodiments of this application do not specifically limit this.

Figure 3 shows the logical architecture diagram of the Ethernet network and the upper layer protocol stack within the host 100. The following will describe in detail the workflow of the host 100 after receiving the message in conjunction with Figure 3. Specifically, the MAC layer transceiver module 110 includes a message reception control module 111 and a reception queue cache module 112. The message reception control module 111 is used to complete the reception of MAC layer messages and identify the priority of MAC layer messages. And generate different processing strategies for messages of different priorities, and then send scheduling requests to the system scheduling control module 150; the receiving queue cache module 112 is used for cache maintenance and cache control, divides the cache queue according to the message priority, and in the cache When the space usage exceeds the set threshold, high-priority messages are cached first, and the cache results are returned to the message reception control module 111. The TCP/IP protocol stack module 120 is used to further process the message. The TCP/IP protocol stack module 120 includes a protocol stack processing control module 121 and a protocol stack processing module 122. The protocol stack processing control module 121 controls the protocol stack according to the priority processing policy. The processing module 122 processes messages according to the protocol; the protocol stack processing module 122 reads (or receives) cached messages of different priority queues in the queue cache module 112 and processes them. The system scheduling module 150 is used to call the corresponding protocol stack processing control module according to the scheduling requests of different priorities generated by the message reception control module 111. The system scheduling control module 150 can have multiple scheduling strategies, such as hard interrupts and soft interrupts. , task scheduling, etc., when multiple scheduling requests conflict/compete, schedule according to priority.

FIG. 4 shows the system architecture diagram of the CAN bus inside the host 100. The working principle of the CAN transceiver module 130 is similar to that of the MAC transceiver module 110 in FIG. Other information determines the CAN message priority; generates scheduling requests with different priorities, and then sends scheduling requests to the system scheduling control module 150; the working principle of the CAN and upper layer protocol stack module 140 is the same as the TCP/IP protocol stack module 120 in Figure 3 Similarly, that is, to further process the CAN signal, the CAN and upper layer protocol stack module 140 may also include a protocol stack processing control module and a protocol stack processing module; the system scheduling control module 150 is used to schedule requests of different priorities according to the scheduling requests of different priorities generated by the CAN transceiver module 130. Call the corresponding protocol stack processing control module. When the system scheduling control module 150 receives multiple scheduling requests with CAN message priority information and multiple scheduling requests with MAC message priority information at the same time, it calls the corresponding protocol stack processing control module according to the scheduling request. Message processing.

It should be understood that the above-mentioned modules and devices are only examples. In actual applications, the above-mentioned modules and devices may be added or deleted according to actual needs. As an example, Figure 2 may also include a system scheduling control module.

Figure 5 shows an exemplary flow chart of a message processing method provided by an embodiment of the present application. The method 500 can be applied to the system shown in Figure 2, or can also be used in the system shown in Figure 3 or Figure 4. implement. The steps or operations of the message processing method shown in FIG. 5 are only exemplary illustrations, and the embodiment of the present application may also perform other operations or modifications of each operation in FIG. 5 . The method 500 includes:

S501, receive the first message.

For example, the first message may be an Ethernet message; or the first message may also be a CAN message.

For example, after receiving the first message, the Ethernet message is processed through the MAC layer protocol, such as MAC address filtering, cyclic redundancy check (CRC) verification, etc.; or through the CAN protocol Analyze CAN messages.

It should be understood that the above-mentioned "receiving" includes the reception of messages by the CAN transceiver module or the MAC transceiver module.

S502: Determine the priority of the first message.

For example, the message priority is identified based on message fields, field combinations or message content. In some possible implementations, the step of determining the priority of the first message is completed by the CAN transceiver module or the MAC transceiver module described in the above embodiment.

In some possible implementations, the priority of the first packet is used to indicate the priority of packet processing. For packets with high priority, priority will be processed according to the protocol corresponding to the first packet. For example, the CAN protocol is used to process CAN messages, and the TCP/IP protocol or UDP protocol is used to process Ethernet messages.

In some possible implementations, the priority of the Ethernet message can be determined through the priority field (priority code point, PCP) field of the Ethernet message; or the priority of the message can also be determined according to the protocol; or, also Other fields or other methods may be used to determine the priority of the message, which is not specifically limited in the embodiments of this application. For example, except for PCP=0 and PCP=1, the larger the value of the PCP field, the higher the priority. For example, the priority of the packet "PCP=7" is higher than the priority of the packet "PCP=5". During the specific implementation process, other priority determination methods may also be set, which are not specifically limited in the embodiments of this application.

In some possible implementations, the priority of the CAN message can be determined by the identifier Message ID field of the CAN message. The lower the value of the Message ID field, the higher the priority of the message. For example, the priority of the CAN message "Message ID=1" is higher than the priority of the CAN message "Message ID=2".

For example, the corresponding relationship between the fields in the CAN message and the Ethernet message and the message priority is as shown in Table 1.

Table 1 Correspondence between different message field values and priorities

Message type	Message field value	Message priority
CAN	Message ID=1	high
CAN	Message ID=2	middle
CAN	Message ID=3	middle
CAN	Message ID=4	Low
ether	PCP＝6～7	high
ether	PCP＝3～5	middle
ether	PCP＝0～2	Low

S503: Determine the message processing strategy of the first message according to the priority of the first message. The message processing strategy includes immediate reception and periodic polling. The immediate reception includes generating a scheduling request for the first message. And receive the first message, for example, map the priority of the first message to the scheduling priority, and generate a scheduling request; periodic polling means not generating a scheduling request and waiting for periodic polling processing by the upper layer protocol stack.

Specifically, immediate reception refers to realizing real-time or quasi-real-time processing of messages through scheduling mechanisms such as interrupts, operating system soft interrupts, and task scheduling; periodic polling reception mode refers to the system's processing of low-priority Ethernet messages through Receive messages in batches in periodic polling mode. It should be understood that periodic polling may include calling the upper layer protocol stack (such as the transport layer or network layer) to periodically query the message cache area. If there are messages to be processed in the message cache area, the message to be processed is processed.

In some possible implementations, the immediate reception mode is adopted for high-priority and medium-priority packets, and the periodic polling mode is adopted for low-priority packets.

It should also be noted that in immediate reception mode, the processing of messages depends on the system scheduling mechanism. Scheduling requests with different priorities can be generated based on the priority of the message. As an example, for a system that uses interrupts, interrupt requests of different priorities can be generated according to the priority of the message. For example, the packets with PCP=3~7 shown in Table 1 are mapped to two different interrupt priorities. Among them, the packets with PCP=6~7 correspond to higher interrupt priorities, and PCP=3~5 The messages correspond to lower interrupt priorities; for the messages with Message ID=2, Message ID=3 and PCP=6~7 shown in Table 1, they are mapped to two different interrupt priorities, where PCP= Messages 6 to 7 correspond to higher interrupt priorities, and messages with Message ID = 2 to 3 correspond to lower interrupt priorities. Further, a high-priority interrupt request is generated for a message with a higher interrupt priority, and a low-priority interrupt request is generated for a message with a lower interrupt priority. Messages with high interrupt request priority can interrupt messages with low interrupt request priority. As another example, for systems that use soft interrupt calls, different soft interrupt or call priorities can be set according to the priority of the message. For example, for the messages with PCP=3~7 shown in Table 1, they are mapped to two Different interrupt priorities, among which, messages with PCP=6~7 correspond to higher soft interrupt priority, and messages with PCP=3~5 correspond to lower soft interrupt priority. Messages with higher soft interrupt priority can interrupt messages with lower soft interrupt priority. As another example, for a system that uses task scheduling, different task scheduling priorities can be set according to the priority of the message. For example, the messages with PCP=3~7 shown in Table 1 are mapped to two different tasks. Scheduling priority, where messages with PCP=6 to 7 correspond to higher task scheduling priorities, and messages with PCP=3 to 5 correspond to lower task scheduling priorities. The system can prioritize packets with higher task scheduling priority and then process packets with lower task scheduling priority.

In some possible implementations, when the system supports two or more scheduling mechanisms, the packet processing method can also use two or more scheduling mechanisms for mixed processing. For example, interrupts are used to receive messages with higher priority, and task scheduling is used to process messages with lower priority; or other mixed scheduling mechanisms can also be used to process messages. The embodiments of this application are This is not specifically limited.

S504, schedule the upper layer protocol stack to process messages according to the scheduling request; at the same time, schedule the upper layer protocol stack to periodically trigger periodic polling tasks to process low-priority messages.

For example, if the first message is a high-priority message or a medium-priority message as mentioned above, the message processing system scheduling control module schedules the upper layer protocol stack to receive and process the message immediately; if the first message is For low-priority messages, the message processing system periodically schedules the upper-layer protocol stack to poll the message buffer area, and uniformly processes all low-priority messages in the message buffer area, including the first message.

In some possible implementations, when the message processing system is idle, that is, when the upper layer protocol stack does not immediately receive and process high-priority messages, the upper-layer protocol stack is scheduled to process low-priority messages in batches through periodic polling.

For example, if the packet processing policy of the first packet is immediate reception, the first packet is processed in real-time or quasi-real-time through one or more methods of interrupt, soft interrupt, and task scheduling. For example, while the system is processing the second packet, it receives a new scheduling request and requests the system to process the first packet. If the scheduling request priority of the first packet is higher than the scheduling request priority of the second packet, , then the processing of the second message is suspended and the first message is processed first; if the scheduling request priority of the first message is the same as that of the second message, or the scheduling request priority of the first message is lower than that of the second message If the priority of the scheduling request of the message is determined, you can wait for the second message to be processed before processing the first message. If the packet processing strategy of the first packet is periodic polling reception, the system periodically schedules the upper layer protocol stack (such as the transport layer or network layer) to receive the packet and process the packet.

Further, the above-mentioned polling period may be 100 milliseconds, or it may be 500 milliseconds, or it may be other lengths of time, which are not specifically limited in the embodiments of this application.

For example, when processing the first message, the first message can be processed according to the upper layer protocol, for example, the first message can be processed through the TCP/IP protocol, or the UDP protocol; or, through The CAN protocol or the like processes the first message, which is not specifically limited in the embodiments of this application.

In steps S503 and S504, "message processing" includes "the upper layer protocol stack (such as the transport layer or network layer) receives the message" and/or "the upper layer protocol stack (such as the transport layer or network layer) processes the message according to the communication protocol Processed".

In the embodiments of this application, for convenience of understanding and description, terms such as "higher" and "lower" are introduced. For example, "higher" may mean that the message priority and scheduling priority are higher, and "lower" may mean that the message priority and scheduling priority are lower. In addition, the "high priority", "medium priority" and "low priority" in the embodiments of this application can be understood as setting the three levels of priority of the message, from "high priority" to "low priority". Level" packet priority gradually decreases. It should be understood that these terms are introduced only to facilitate understanding and shall not constitute any limitation on the present application.

The message processing method provided by the embodiment of the present application can control the priority of message processing based on the priority of the message, so that high-priority messages are processed with priority, which is beneficial to ensuring the processing time of high-priority messages. Delay is better than low-priority packets. For example, in the field of vehicle control, management messages that affect vehicle safety have a high priority, and business messages with large amounts of data, obvious business burst characteristics, data transmission, entertainment domain audio and video streams, etc. have a low priority. The message processing method of the application embodiment processes high-priority messages through immediate reception (such as interruption), which can ensure the real-time processing of high-priority messages that affect vehicle safety, and processes low-priority business messages through periodic polling. This can improve message processing performance and help avoid the impact of high-frequency interruptions on system performance. Low-priority packets are processed only after high-priority packets are processed, so that in mixed transmission scenarios of control flow, data, audio and video flows with different priorities, large-bandwidth/burst low-priority data flows will not affect high-priority data flows. The transmission of priority messages improves the reliability of vehicle control command transmission. In addition, the packet processing method provided by the embodiment of the present application can avoid the interruption of low-priority packets caused by setting priorities based on physical interfaces and the processing of high-priority packets that affect other ports, helping to improve high-priority packets. The processing of messages is real-time and reliable.

In some possible implementations, after receiving one or more messages, the system will cache the messages in the corresponding cache queue, and then based on the "start address" included in the "message description information" of each message, Cache the messages in the cache queue to the message cache area. Specifically, as shown in Figure 6, messages 1 to 4 in cache queue 1 and cache queue 2 are cached in the message cache area. In some possible implementations, the cache queue can be set according to the packet priority. For example, high-priority packets can be set to the same cache queue, and low-priority packets can be set to another cache queue; or the same cache queue can be set. There may be various messages with different priorities in the cache queue, which are not specifically limited in this embodiment of the present application. In some possible implementations, when there is no cache space in the message cache, the message can be discarded. The following describes a processing method in the message caching process provided by the embodiment of the present application with reference to FIG. 7 .

Figure 7 shows a schematic flowchart of a method for caching messages according to message priority provided by an embodiment of the present application. This method 700 can be applied to the system shown in Figure 2, or can also be used in Figure 3 or The system shown in Figure 4 is implemented. The method 700 includes:

S701: Receive the second message and determine the priority of the second message.

For example, the method of determining the priority of the second packet may refer to the description in the above embodiment, and will not be described again here.

It should be understood that the second message may be the first message in the method 500, or may be a message different from the first message, which is not specifically limited in this embodiment of the present application.

S702: Determine whether the second packet satisfies the packet discarding condition based on the priority of the second packet and cache occupancy.

Specifically, if the second packet priority and buffer occupancy meet the packet discard condition, execute S703; otherwise, execute S704.

It should be understood that the “cache occupation” in the embodiment of this application may include the used cache space of the message cache area.

For example, one or more groups of packet discarding condition parameter pairs can be set, for example, [message priority threshold 1, message cache occupancy threshold 1], [message priority threshold 2, message cache occupancy threshold 2]. The second packet is discarded when the following conditions are met: the priority of the second packet is lower than the packet priority threshold X, and the buffer occupancy is higher than the packet discard buffer occupancy threshold X. Wherein, In some possible implementations, X can also be other values, and "X" should not be understood as a limitation on the embodiments of the present application. More intuitively, as shown in Figure 8, when the packet priority and cache occupancy are located in the shaded area in Figure 8, the second packet is discarded.

It should be noted that during the specific implementation process, the conditions for executing S703 are not limited to the condition "the priority of the second message is lower than the message priority threshold X, and the cache occupancy is higher than the message discard cache occupancy threshold X" , that is, S703 can be executed when the priority of the second message is lower than or equal to the message priority threshold X and the buffer occupancy is higher than or equal to the message discard buffer occupancy threshold X.

For example, the message priority threshold 1 may be PCP=3, and the message priority threshold 2 may be PCP=6, where the priority of PCP=6 is higher than the priority of PCP=3. The message cache occupancy threshold 1 can be 60% of the cache space, and the message cache occupancy threshold 2 can be 80% of the cache space. In some possible implementations, the message cache occupancy threshold may also be 100% of the cache space, which is not specifically limited in this application. It should be understood that the above examples of message priority thresholds 1 and 2 and message cache occupancy thresholds 1 and 2 are only illustrative and should not be understood as limitations to the embodiments of the present application. The message priority threshold and the message cache occupancy threshold can also be other indicators or values, which are not specifically limited in the embodiments of this application.

S703, discard the second message, and the message caching process ends.

It should be understood that if the second message is discarded, the processing of the second message will not continue.

S704, determine whether the message cache space is full.

Specifically, if the message cache space is full, S705 is executed, otherwise S706 is executed.

In some possible implementations, when the used space in the message buffer exceeds the preset threshold, S705 is executed. For example, when the used space in the message buffer exceeds 90% or 95%, S705 is executed; otherwise, S706 is executed.

It should be noted that in some possible implementations, the above preset threshold is less than or equal to the message cache occupancy threshold 2.

S705: Discard one or more low-priority packets whose priority is lower than the priority of the second packet.

S706, cache the second message, and the message caching process ends.

It should be noted that the "discard" involved in the embodiment of this application can be understood as not storing the message or deleting the message.

It should be understood that the steps or operations of the message processing method shown in FIG. 7 are only exemplary illustrations, and the embodiment of the present application may also perform other operations or modifications of each operation in FIG. 7 . Furthermore, the various steps in FIG. 7 may be performed in a different order than presented in FIG. 7 , and it is possible that not all operations in FIG. 7 may be performed. For example, when it is determined that the second packet satisfies the packet discard condition, S704 to S706 may be skipped; or S702 and S704 may also be executed at the same time, which is not specifically limited in this embodiment of the present application.

The message processing method provided by the embodiment of the present application can reduce the loss of high-priority messages due to buffer overflow by using high-priority messages to seize cache space for low-priority messages and discarding low-priority messages first. package probability to improve system reliability.

Figure 9 shows a schematic flow chart of a message processing method 900 provided by an embodiment of the present application. The method 900 can be applied in the system architecture shown in FIG. 2 , and the method can also be executed by the system shown in FIG. 3 and/or FIG. 4 . The steps or operations of the message processing method shown in FIG. 9 are only exemplary illustrations, and the embodiment of the present application may also perform other operations or modifications of each operation in FIG. 9 . The method 900 includes:

S901: Determine the priority of the first message.

For example, the first message may be the Ethernet message described in the above embodiment, or it may also be the CAN message described in the above embodiment. For example, the first message may be the first message in the above method 500. In some possible implementations, the first message may also be the second message in the above method 700. Alternatively, the first message may also be another message, which is not specifically limited in the embodiment of the present application.

For example, the method of determining the priority of the first packet may refer to the description in the above embodiment, and will not be described again here.

S902: When the priority of the first message meets the first condition, generate a scheduling request. The scheduling request is used to request real-time processing of the first message; when the priority of the first message meets the second condition time, waiting for the polling processing of the first message.

For example, the real-time processing can be the "immediate reception" described in the above embodiment, including but not limited to interrupts, soft interrupts, and task scheduling. The polling process may be the "periodic polling" described in the above embodiment, where the cycle of the polling process may be 100 milliseconds, or 500 milliseconds, or other cycles, which are not specifically limited in the embodiments of the present application.

Exemplarily, the above-mentioned first condition includes that the priority of the first message is higher than the preset threshold, for example, the priority of the first message is high priority or medium priority as described above; the above-mentioned second condition includes the The priority of a packet is lower than or equal to the preset threshold. For example, the priority of the first packet is low priority as described above. Alternatively, the first condition may include that the content carried by the first packet is a control instruction such as an empty vehicle command; the second condition may include that the content carried by the first packet is entertainment content such as audio and video streams. Alternatively, the first condition and the second condition may also be other conditions associated with the content of the first message, which are not specifically limited in this embodiment of the present application.

For example, the method of generating a scheduling request and waiting for polling processing may refer to the description in the above embodiment, and will not be described again here.

The message processing method provided by the embodiment of the present application can control the priority of message processing based on the priority of the message, so that high-priority messages are processed with priority, which is beneficial to ensuring the processing time of high-priority messages. Delay is better than low-priority packets. Ensure the real-time processing of high-priority messages that affect vehicle safety, and process low-priority business messages through periodic polling, which can improve processing performance and avoid the impact of high-frequency interruptions on system performance.

Figure 10 shows a schematic flow chart of a message processing method 1000 provided by an embodiment of the present application. The method 1000 can be applied in the system architecture shown in Figure 2, and the method can also be executed by the system shown in Figure 3 and/or Figure 4. The steps or operations of the message processing method shown in FIG. 10 are only exemplary illustrations, and embodiments of the present application may also perform other operations or modifications of each operation in FIG. 10 . The method 1000 includes:

S1010. Determine a first processing strategy for the first message. The first processing strategy is one of real-time processing and polling processing.

For example, the real-time processing can be the "immediate reception" described in the above embodiment, including but not limited to interrupts, soft interrupts, and task scheduling. The polling process may be the "periodic polling" described in the above embodiment, where the cycle of the polling process may be 100 milliseconds, or 500 milliseconds, or other cycles, which are not specifically limited in the embodiments of the present application.

For example, the first message may be the Ethernet message described in the above embodiment, or it may also be the CAN message described in the above embodiment. For example, the first message may be the first message in the above method 500. In some possible implementations, the first message may also be the second message in the above method 700. Alternatively, the first message may also be another message, which is not specifically limited in the embodiment of the present application.

For example, the method of determining the first processing policy for the first packet may refer to the description in the above embodiment, and will not be described again here.

S1020, process the first message according to the first processing policy, where the real-time processing is performed when the priority of the first message meets the first condition, and the polling process is performed on the first message. Processed when the priority meets the second condition.

Exemplarily, the above-mentioned first condition includes that the priority of the first message is higher than the preset threshold, for example, the priority of the first message is high priority or medium priority as described above; the above-mentioned second condition includes the The priority of a packet is lower than or equal to the preset threshold. For example, the priority of the first packet is low priority as described above. Alternatively, the first condition may include that the content carried by the first packet is a control instruction such as an empty vehicle command; the second condition may include that the content carried by the first packet is entertainment content such as audio and video streams. Alternatively, the first condition and the second condition may also be other conditions associated with the content of the first message, which are not specifically limited in this embodiment of the present application.

For example, for a method of processing the first packet according to the first processing policy, reference may be made to the description in the above embodiment, which will not be described again here.

In a message processing method provided by the embodiment of the present application, higher priority messages can be processed in real time according to scheduling requests, which can improve the real-time performance of higher priority message processing; in the message processing system When idle, polling for lower-priority messages can avoid the impact of high-frequency interrupts on the performance of the message processing system and help improve the performance of the message processing system.

In the various embodiments of this application, if there is no special explanation or logical conflict, the terms and/or descriptions between the various embodiments are consistent and can be referenced to each other. The technical features in different embodiments are based on their inherent logic. Relationships can be combined to form new embodiments.

The method provided by the embodiment of the present application is described in detail above with reference to FIGS. 5 to 10 . The device provided by the embodiment of the present application will be described in detail below with reference to Figures 11 and 12. It should be understood that the description of the device embodiments corresponds to the description of the method embodiments. Therefore, for content that is not described in detail, please refer to the above method embodiments. For the sake of brevity, they will not be described again here.

Figure 11 shows a schematic block diagram of a packet processing device 2000 provided by an embodiment of the present application. The device 2000 includes a first processing unit 2010 and a second processing unit 2020. The first processing unit 2010 and the second processing unit 2020 are used for data processing. In some possible implementations, the device 2000 also includes a transceiver unit 2030, which can implement corresponding communication functions.

Optionally, the device 2000 may also include a storage unit, which may be used to store instructions and/or data, and the processing unit 2020 may read the instructions and/or data in the storage unit, so that the device implements the foregoing method embodiments. .

The apparatus 2000 may include units for performing the methods in FIG. 5, FIG. 7, FIG. 9, and FIG. 10. Moreover, each unit in the device 2000 and the above-mentioned other operations and/or functions are respectively intended to implement the corresponding processes of the method embodiments in FIG. 5, FIG. 7, FIG. 9, and FIG. 10.

When the device 2000 is used to execute the method 900 in Figure 9, the first processing unit 2010 can be used to execute S901 in the method 900, and the second processing unit 2020 can be used to execute S902 in the method 900.

Specifically, the device 2000 includes: a first processing unit 2010 and a second processing unit 2020, where the first processing unit 2010 is used to determine the priority of the first message; the second processing unit 2020 is used to, in the When the priority of the first message meets the first condition, a scheduling request is generated, and the scheduling request is used to request real-time processing of the first message; when the priority of the first message meets the second condition, wait for the Polling processing of the first message.

In some possible implementations, the first processing unit 2010 and the second processing unit 2020 may be the same processing unit. For example, it may be the MAC transceiver module 110 described in the above embodiment, or it may also be the CAN transceiver module 130. More specifically, the first processing unit 2010 and the second processing unit 2020 may be the message reception control module 111.

In some possible implementations, the first condition includes that the priority of the first packet is higher than a preset threshold, and the second condition includes that the priority of the first packet is lower than or equal to the preset threshold.

In some possible implementations, the second processing unit 2020 is also configured to: when the priority of the first message meets the first condition, determine the priority of the first message according to the priority of the first message. Scheduling priority, the scheduling priority is used to indicate the priority of the real-time processing; the scheduling request is generated according to the scheduling priority of the first message.

In some possible implementations, the device 2000 further includes: a third processing unit, configured to, after determining the priority of the first message, process the first message according to the priority of the first message and the used space in the message cache. , cache the first message, and the used space of the message cache area is used to represent the used space of the cached message area.

For example, the third processing unit may be the receive queue buffer module 112 described in the above embodiment.

In a specific implementation process, the first processing unit 2010, the second processing unit 2020 and the third processing unit may be unified processing units, such as the MAC transceiver module 110 or the CAN transceiver module 130.

In some possible implementations, the third processing unit is also configured to: cache the first message when the priority of the first message is higher than a first threshold, and/or the used space in the message buffer is less than a second threshold. First message.

In some possible implementations, the third processing unit is also configured to: before caching the first message, delete one or more second messages when the used space in the message buffer is greater than a third threshold. , the priority of the second message is smaller than the priority of the first message.

In some possible implementations, the first processing unit 2010 is also used to: determine the priority of the third message; the third processing unit is also used to: when the priority of the third message is lower than or equal to the When the first threshold is reached and the used space in the message buffer is greater than or equal to the second threshold, the third message is discarded.

In some possible implementations, when the device 2000 is used to perform the method 1000 in Figure 10, the first processing unit 2010 can be used to perform S1010 in the method 1000, and the second processing unit 2020 can be used to perform S1020 in the method 1000. .

Specifically, the device 2000 includes: a first processing unit 2010 and a second processing unit 2020, where the first processing unit 2010 is used to determine a first processing strategy for the first message, and the first processing strategy is real-time processing and one of the polling processes; the second processing unit 2020 is configured to process the first message according to the first processing strategy, wherein the real-time processing is that the priority of the first message satisfies the first condition. The polling processing is performed when the priority of the first message meets the second condition.

In some possible implementations, the device 2000 further includes a transceiver unit 2030, which is configured to receive the first message.

In some possible implementations, the first processing unit 2010 may be the system scheduling control module 150 described in the above embodiment, and the second processing unit 2020 may be the TCP/IP protocol stack module 120, or it may be CAN and the last Protocol stack module 140.

In some possible implementations, the first processing unit 2010 and the second processing unit 2020 may also be the same processing unit.

In some possible implementations, the device 2000 further includes: a transceiver unit 2030, configured to receive a scheduling request, where the scheduling request is used to request real-time processing of the first message; the first processing unit 2010 is also configured to: The first processing strategy for the first message is determined to be real-time processing according to the scheduling request.

For example, the transceiver unit 2030 may be included in the system scheduling control module 150.

In some possible implementations, the second processing unit 2020 is also configured to: before performing the real-time processing on the first message, interrupt the polling processing on the fourth message; After the real-time processing is performed, polling processing is continued on the fourth message, where the priority of the fourth message is lower than the priority of the first message.

In some possible implementations, the real-time processing of the first message includes a first moment, which is the moment when polling processing starts, and the second processing unit 2020 is also used to: control the The first time is delayed to a second time, the second time is the time after the real-time processing of the first message is performed, and the second time is the time when the polling process starts.

It should be understood that the division of each unit in the above device is only a division of logical functions. In actual implementation, the units may be fully or partially integrated into a physical entity, or may be physically separated. In addition, the unit in the device can be implemented in the form of a processor calling software; for example, the device includes a processor, the processor is connected to a memory, instructions are stored in the memory, and the processor calls the instructions stored in the memory to implement any of the above methods. Or realize the functions of each unit of the device, where the processor is, for example, a general-purpose processor, such as a CPU or a microprocessor, and the memory is a memory within the device or a memory outside the device. Alternatively, the units in the device can be implemented in the form of hardware circuits, and some or all of the functions of the units can be implemented through the design of the hardware circuits, which can be understood as one or more processors; for example, in one implementation, The hardware circuit is an ASIC, which realizes the functions of some or all of the above units through the design of the logical relationship of the components in the circuit; for another example, in another implementation, the hardware circuit can be implemented through PLD, taking FPGA as an example. It can include a large number of logic gate circuits, and the connection relationships between the logic gate circuits can be configured through configuration files to realize the functions of some or all of the above units. All units of the above device may be fully realized by the processor calling software, or may be fully realized by hardware circuits, or part of the units may be realized by the processor calling software, and the remaining part may be realized by hardware circuits.

In the embodiment of the present application, the processor is a circuit with signal processing capabilities. In one implementation, the processor may be a circuit with instruction reading and execution capabilities, such as a CPU, a microprocessor, a GPU, or DSP, etc.; in another implementation, the processor can realize certain functions through the logical relationship of the hardware circuit. The logical relationship of the hardware circuit is fixed or can be reconstructed. For example, the processor is a hardware circuit implemented by ASIC or PLD. For example, FPGA. In a reconfigurable hardware circuit, the process of the processor loading the configuration file and realizing the hardware circuit configuration can be understood as the process of the processor loading instructions to realize the functions of some or all of the above units. In addition, it can also be a hardware circuit designed for artificial intelligence, which can be understood as an ASIC, such as NPU, TPU, DPU, etc.

It can be seen that each unit in the above device can be one or more processors (or processing circuits) configured to implement the above method, such as: CPU, GPU, NPU, TPU, DPU, microprocessor, DSP, ASIC, FPGA , or a combination of at least two of these processor forms.

In addition, each unit in the above device may be integrated together in whole or in part, or may be implemented independently. In one implementation, these units are integrated together and implemented as a system-on-a-chip (SOC). The SOC may include at least one processor for implementing any of the above methods or implementing the functions of each unit of the device. The at least one processor may be of different types, such as a CPU and an FPGA, or a CPU and an artificial intelligence processor. CPU and GPU etc.

Figure 12 is a schematic block diagram of a packet processing device according to an embodiment of the present application. The packet processing device 2100 shown in FIG. 12 may include: a processor 2110, a transceiver 2120, and a memory 2130. Among them, the processor 2110, the transceiver 2120 and the memory 2130 are connected through an internal connection path. The memory 2130 is used to store instructions. The processor 2110 is used to execute the instructions stored in the memory 2130, and the transceiver 2120 receives/sends some parameters. Optionally, the memory 2130 can be coupled with the processor 2110 through an interface or integrated with the processor 2110 .

It should be noted that the above-mentioned transceiver 2120 may include but is not limited to a transceiver device such as an input/output interface to realize communication between the device 2100 and other devices or communication networks.

During the implementation process, each step of the above method can be completed by instructions in the form of hardware integrated logic circuits or software in the processor 2110 . The method disclosed in conjunction with the embodiments of the present application can be directly implemented by a hardware processor for execution, or can be executed by a combination of hardware and software modules in the processor. The software module can be located in random access memory, flash memory, read-only memory, programmable read-only memory or electrically erasable programmable memory, registers and other mature storage media in this field. The storage medium is located in the memory 2130. The processor 2110 reads the information in the memory 2130 and completes the steps of the above method in combination with its hardware. To avoid repetition, it will not be described in detail here.

The processor 2110 can use a general-purpose CPU, microprocessor, ASIC, GPU or one or more integrated circuits to execute relevant programs to implement the message processing method of the method embodiment of the present application. The processor 2110 can also be an integrated circuit chip with signal processing capabilities. In a specific implementation process, each step of the message processing method of the present application can be completed by instructions in the form of hardware integrated logic circuits or software in the processor 2110 . The above-mentioned processor 2110 can also be a general-purpose processor, DSP, ASIC, FPGA or other programmable logic device, discrete gate or transistor logic device, or discrete hardware component. Each method, step and logical block diagram disclosed in the embodiment of this application can be implemented or executed. A general-purpose processor may be a microprocessor or the processor may be any conventional processor, etc. The steps of the method disclosed in conjunction with the embodiments of the present application can be directly implemented by a hardware decoding processor, or executed by a combination of hardware and software modules in the decoding processor. The software module can be located in random access memory, flash memory, read-only memory, programmable read-only memory or electrically erasable programmable memory, registers and other mature storage media in this field. The storage medium is located in the memory 2130. The processor 2110 reads the information in the memory 2130 and executes the message processing method of the method embodiment of the present application in conjunction with its hardware.

The memory 2130 may be a read-only memory (ROM), a static storage device, a dynamic storage device or a random access memory (RAM).

The transceiver 2120 uses a transceiver device such as but not limited to a transceiver to implement communication between the device 2100 and other devices or communication networks. For example, the first message may be received through the transceiver 2120.

An embodiment of the present application also provides a vehicle, which may include the above device 2000 or the above device 2100.

Embodiments of the present application also provide a computer program product. The computer program product includes: computer program code. When the computer program code is run on a computer, it causes the computer to execute the above method.

Embodiments of the present application also provide a computer-readable storage medium. The computer-readable medium stores program code. When the computer program code is run on a computer, it causes the computer to execute the above-mentioned Figures 5, 7, 9 and 9. Any of the 10 methods.

An embodiment of the present application also provides a chip, including: at least one processor and a memory. The at least one processor is coupled to the memory and used to read and execute instructions in the memory to execute the above-mentioned Figures 5, 7, Either method in Figure 9 or Figure 10.

Various aspects, embodiments, or features of this application will be presented in terms of systems including multiple devices, components, modules, etc. It should be understood and appreciated that various systems may include additional devices, components, modules, etc., and/or may not include all devices, components, modules, etc. discussed in connection with the figures. Additionally, a combination of these scenarios can be used.

In addition, in the embodiments of this application, words such as "exemplary" and "for example" are used to represent examples, illustrations or explanations. Any embodiment or design described herein as "example" is not intended to be construed as preferred or advantageous over other embodiments or designs. Rather, the use of the word example is intended to present a concept in a concrete way.

In the embodiments of this application, "corresponding (relevant)" and "corresponding (corresponding)" can sometimes be used interchangeably. It should be noted that when the difference is not emphasized, their intended meanings are consistent.

The network architecture and business scenarios described in the embodiments of this application are to more clearly explain the technical solutions of the embodiments of this application, and do not constitute a limitation on the technical solutions provided by the embodiments of this application. Those of ordinary skill in the art will know that with the network With the evolution of architecture and the emergence of new business scenarios, the technical solutions provided in the embodiments of this application are also applicable to similar technical problems.

Reference in this specification to "one embodiment" or "some embodiments" or the like means that a particular feature, structure or characteristic described in connection with the embodiment is included in one or more embodiments of the application. Therefore, the phrases "in one embodiment", "in some embodiments", "in other embodiments", "in other embodiments", etc. appearing in different places in this specification are not necessarily References are made to the same embodiment, but rather to "one or more but not all embodiments" unless specifically stated otherwise. The terms “including,” “includes,” “having,” and variations thereof all mean “including but not limited to,” unless otherwise specifically emphasized.

In this application, "at least one" refers to one or more, and "plurality" refers to two or more. "And/or" describes the association of associated objects, indicating that there can be three relationships, for example, A and/or B, which can mean: including the existence of A alone, the existence of A and B at the same time, and the existence of B alone, where A and B can be singular or plural. The character "/" generally indicates that the related objects are in an "or" relationship. "At least one of the following" or similar expressions thereof refers to any combination of these items, including any combination of a single item (items) or a plurality of items (items). For example, at least one of a, b, or c can mean: a, b, c, a-b, a-c, b-c, or a-b-c, where a, b, c can be single or multiple .

Those of ordinary skill in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented with electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Skilled artisans may implement the described functionality using different methods for each specific application, but such implementations should not be considered beyond the scope of this application.

Those skilled in the art can clearly understand that for the convenience and simplicity of description, the specific working processes of the systems, devices and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be described again here.

In the several embodiments provided in this application, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. For example, the device embodiments described above are only illustrative. For example, the division of the units is only a logical function division. In actual implementation, there may be other division methods. For example, multiple units or components may be combined or can be integrated into another system, or some features can be ignored, or not implemented. On the other hand, the coupling or direct coupling or communication connection between each other shown or discussed may be through some interfaces, and the indirect coupling or communication connection of the devices or units may be in electrical, mechanical or other forms.

The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place, or they may be distributed to multiple network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

In addition, each functional unit in each embodiment of the present application can be integrated into one processing unit, each unit can exist physically alone, or two or more units can be integrated into one unit.

If the functions are implemented in the form of software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application can essentially be embodied in the form of a software product. The computer software product is stored in a storage medium and includes a number of instructions to enable a computer device (which can be a personal computer, a server, or network equipment, etc.) to perform all or part of the steps of the methods described in various embodiments of this application. The aforementioned storage media include: U disk, mobile hard disk, ROM, RAM, magnetic disk or optical disk and other media that can store program codes.

The above are only specific embodiments of the present application, but the protection scope of the present application is not limited thereto. Any person familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed in the present application. should be covered by the protection scope of this application. Therefore, the protection scope of this application should be subject to the protection scope of the claims.

Claims (27)

1. A message processing method, characterized by including:

   Determine the priority of the first message;

   When the priority of the first message meets the first condition, a scheduling request is generated, and the scheduling request is used to request real-time processing of the first message;

   When the priority of the first message satisfies the second condition, wait for polling processing of the first message.
2. The method of claim 1, wherein the first condition includes that the priority of the first message is higher than a preset threshold, and the second condition includes that the priority of the first message is low. is at or equal to the preset threshold.
3. The method according to claim 1 or 2, characterized in that when the priority of the first message meets the first condition, the method further includes:

   Determine the scheduling priority of the first message according to the priority of the first message, and the scheduling priority is used to indicate the priority of the real-time processing;

   The generated scheduling request includes:

   The scheduling request is generated according to the scheduling priority of the first message.
4. The method according to any one of claims 1 to 3, characterized in that after determining the priority of the first message, the method further includes:

   The first message is cached according to the priority of the first message and the used space of the message cache area, and the used space of the message cache area is used to represent the used space of the cached message area.
5. The method according to claim 4, characterized in that caching the first message according to the priority of the first message and the used space in the message cache area includes:

   When the priority of the first message is higher than the first threshold, and/or the used space of the message buffer is less than the second threshold, the first message is cached.
6. The method according to claim 5, characterized in that before caching the first message, the method further includes:

   When the used space of the message cache area is greater than the third threshold, one or more second messages are deleted, and the priority of the second message is lower than the priority of the first message.
7. The method according to any one of claims 4 to 6, characterized in that the method further includes:

   Determine the priority of the third message;

   When the priority of the third message is lower than or equal to the first threshold and the used space of the message buffer is greater than or equal to the second threshold, the third message is discarded.
8. A message processing method, characterized by including:

   Determine a first processing strategy for the first message, the first processing strategy being included in real-time processing and polling processing;

   The first message is processed according to the first processing strategy, wherein the real-time processing is the processing performed when the priority of the first message meets the first condition, and the polling processing is the Processing performed when the priority of the first packet meets the second condition.
9. The method of claim 8, further comprising:

   Receive a scheduling request, where the scheduling request is used to request real-time processing of the first message;

   Determining the first processing strategy for the first packet includes:

   The first processing strategy for the first packet is determined to be the real-time processing according to the scheduling request.
10. The method of claim 9, further comprising:

    Before performing the real-time processing on the first message, interrupt the polling processing on the fourth message;

    After performing the real-time processing on the first message, continue to perform polling processing on the fourth message, wherein the priority of the fourth message is lower than the priority of the first message. .
11. The method according to claim 9 or 10, characterized in that the real-time processing of the first message includes a first moment, and the first moment is the moment when polling processing starts, and the Methods also include:

    The first time is controlled to be delayed to a second time, the second time is the time after the real-time processing of the first message is performed, and the second time is the time when polling processing starts.
12. A message processing device, characterized by comprising a first processing unit and a second processing unit, wherein the first processing unit is used to determine the priority of the first message;

    The second processing unit is configured to generate a scheduling request when the priority of the first message meets the first condition, and the scheduling request is used to request real-time processing of the first message; in the When the priority of the first message meets the second condition, polling processing of the first message is waited for.
13. The device according to claim 12, wherein the first condition includes that the priority of the first message is higher than a preset threshold, and the second condition includes that the priority of the first message is low. is at or equal to the preset threshold.
14. The device according to claim 12 or 13, characterized in that the second processing unit is also used for:

    When the priority of the first message meets the first condition, the scheduling priority of the first message is determined according to the priority of the first message, and the scheduling priority is used to indicate the real-time processing priorities;

    The scheduling request is generated according to the scheduling priority of the first message.
15. The device according to any one of claims 12 to 14, characterized in that the device further includes:

    The third processing unit is configured to cache the first message according to the priority of the first message and the used space in the message buffer area after determining the priority of the first message. The used space of the message cache area is used to represent the used space of the cached message area.
16. The device according to claim 15, characterized in that the third processing unit is also used for:

    When the priority of the first message is higher than the first threshold, and/or the used space of the message buffer is less than the second threshold, the first message is cached.
17. The device according to claim 16, characterized in that the third processing unit is also used for:

    Before caching the first message, when the used space in the message cache area is greater than the third threshold, delete one or more second messages, and the priority of the second message is smaller than the first message. The priority of the message.
18. The device according to any one of claims 15 to 17, characterized in that the first processing unit is also used to: determine the priority of the third message;

    The third processing unit is also configured to: when the priority of the third message is lower than or equal to the first threshold and the used space of the message cache is greater than or equal to the second threshold, discard all the messages. Describe the third message.
19. A message processing device, characterized in that it includes a first processing unit and a second processing unit, wherein the first processing unit is used to determine a first processing strategy for the first message, and the first processing unit The strategy is one of real-time processing and polling processing;

    The second processing unit is configured to process the first message according to the first processing strategy,

    Wherein, the real-time processing is the processing performed when the priority of the first message satisfies the first condition, and the polling processing is the processing performed when the priority of the first message satisfies the second condition.
20. The device of claim 19, further comprising:

    A transceiver unit, configured to receive a scheduling request, where the scheduling request is used to request real-time processing of the first message;

    The first processing unit is further configured to determine, according to the scheduling request, that the first processing strategy for the first message is the real-time processing.
21. The device according to claim 20, characterized in that the second processing unit is also used for:

    Before performing the real-time processing on the first message, interrupt the polling processing on the fourth message;

    After performing the real-time processing on the first message, continue to perform polling processing on the fourth message, wherein the priority of the fourth message is lower than the priority of the first message. .
22. The device according to claim 20 or 21, characterized in that the process of performing the real-time processing on the first message includes a first time, and the first time is the time when polling processing starts, and the The second processing unit is also used for:

    The first time is controlled to be delayed to a second time, the second time is the time after the real-time processing of the first message is performed, and the second time is the time when polling processing starts.
23. A message processing device, characterized by including:

    Memory, used to store computer programs;

    A processor, configured to execute a computer program stored in the memory, so that the device executes the method according to any one of claims 1 to 11.
24. A message processing system, characterized by comprising the device according to any one of claims 12 to 18, and/or the device according to any one of claims 19 to 22.
25. A vehicle, characterized by comprising the device according to any one of claims 12 to 22, or the device according to claim 23, or the system according to claim 24.
26. A computer-readable storage medium, characterized in that a computer program is stored thereon, and when the computer program is executed by a computer, the method according to any one of claims 1 to 11 is implemented.
27. A chip, characterized in that the chip includes a processor and a data interface, and the processor reads instructions stored in the memory through the data interface to execute the instructions as described in any one of claims 1 to 11 method.

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